US20100028203A1 - Laboratory system for handling sample tube racks, an alignment element for sample tube racks and a rack tray receiver assembly - Google Patents
Laboratory system for handling sample tube racks, an alignment element for sample tube racks and a rack tray receiver assembly Download PDFInfo
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- US20100028203A1 US20100028203A1 US12/460,822 US46082209A US2010028203A1 US 20100028203 A1 US20100028203 A1 US 20100028203A1 US 46082209 A US46082209 A US 46082209A US 2010028203 A1 US2010028203 A1 US 2010028203A1
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- rack
- sample tube
- gripping
- skid
- receiver
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/026—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations having blocks or racks of reaction cells or cuvettes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/046—General conveyor features
- G01N2035/0465—Loading or unloading the conveyor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T436/00—Chemistry: analytical and immunological testing
- Y10T436/11—Automated chemical analysis
- Y10T436/113332—Automated chemical analysis with conveyance of sample along a test line in a container or rack
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T436/00—Chemistry: analytical and immunological testing
- Y10T436/11—Automated chemical analysis
- Y10T436/113332—Automated chemical analysis with conveyance of sample along a test line in a container or rack
- Y10T436/114165—Automated chemical analysis with conveyance of sample along a test line in a container or rack with step of insertion or removal from test line
Definitions
- the present invention relates to the handling of sample tube racks in a laboratory environment, and particularly to a laboratory device for handling sample tube racks in the context of storing such sample tubes in a storage compartment, and more particularly of placing tube racks on rack positioning areas or trays.
- test tubes containing samples have to be handled in high number and in a cautious but still efficient manner.
- samples such as blood, urine, etc.
- a storage compartment which can be, for example, a refrigerating device.
- the tubes are not handled individually but placed in so-called storage racks.
- the racks are usually placed on rack carriers called trays for all further handling (transporting, charging, discharging).
- the trays are charged/discharged at an operating height of about 800 mm.
- Document JP 2007/303960 discloses a rack tray capable of setting simply a single or a plurality of racks on each desired position, and reducing a falling accident of racks, and a rack tray capable of dismounting collectively a plurality of set racks.
- This rack tray includes a guide part for arraying and holding a plurality of racks supporting a plurality of sample vessels and guiding the racks movably along the arraying direction.
- the guide part includes a plurality of engaging holding parts for holding the racks by being engaged with an engaging part of each rack when the racks are mounted.
- U.S. Pat. No. 5,417,922 discloses a specimen carrier for transporting conventional specimen tubes throughout an automatic laboratory conveyance system.
- the carrier includes a generally rectilinear carrier body with a forward face having an identification zone delimited thereon.
- An identification code is marked in the identification zone so as to permit mechanical sensing and identification of the carrier on a conveyor system.
- a plurality of holes of various diameters and depths are provided in the top surface of the carrier to receive conventional specimen tubes of various types with the top ends of the specimen tubes located at a predetermined height above the top surface of the carrier.
- the present disclosure provides a laboratory system to handle sample tube racks, an alignment element for aligning the sample tube racks on a rack positioning area, a rack tray receiver assembly, and methods for handling sample tube racks.
- a laboratory system to handle laboratory sample tube racks which comprises a handling device with a gripper for gripping sample tube racks.
- the sample tube racks to be handled comprise a first end surface and a second end surface, the first end surface having a first surface geometry and the second end surface having a second surface geometry, and with the first and second surface geometries being different from each other.
- the gripper comprises a first gripping arm and a second gripping arm, with the first gripping arm having a gripping surface being complementary to the first surface geometry, and the second gripping arm having a gripping surface being complementary to the second surface geometry.
- the sample tube racks with a specific geometry can be handled automatically with a gripper with two gripper arms comprising corresponding complementary geometries, respectively. This enables a secure automated handling of the racks due to the adapted geometry.
- an alignment element for aligning sample tube racks on a primary rack positioning area of a laboratory system.
- a sample tube rack to be aligned comprises a first end surface and a second end surface, the first end surface having a first surface geometry and the second end surface having a second surface geometry.
- the alignment element has a bottom side, a first longitudinal side and a second longitudinal side, wherein the first longitudinal side is complementary to the first surface geometry and the second longitudinal side is complementary to the second surface geometry while the bottom side comprises a clip-like positioning element for positioning the alignment element on the rack positioning area in uniform orientation with other alignment elements on the rack positioning area.
- FIG. 1 shows a perspective view of a laboratory equipment unit comprising a laboratory system in which the inventive aspects of this disclosure can be implemented.
- FIG. 2 shows a top view of a primary rack handler area of the laboratory system of FIG. 1 where incoming primary racks are handled.
- FIG. 3 shows a perspective view of the primary rack handler area of FIG. 2 .
- FIG. 4 shows a rear perspective view of a gripper of a robotic arm of the primary rack handler area of FIG. 2 .
- FIG. 5 shows a front perspective view of the gripper of FIG. 4 .
- FIG. 6 shows a detail perspective view of the primary rack handler area of FIGS. 2 and 3 .
- FIG. 7 shows a top view of the detail of FIG. 6 .
- FIG. 8 shows a first perspective top view of an alignment element a multitude of which are used to align the primary racks in the primary rack positioning area as shown in FIG. 2 .
- FIG. 9 shows a second perspective top view of the alignment element of FIG. 8 .
- FIG. 10 shows a perspective bottom view of the alignment element of FIG. 8 .
- FIG. 11 shows a perspective view of a primary rack tray receiver assembly with barrier mechanism.
- FIG. 12 shows another perspective view of a primary rack tray receiver assembly of FIG. 11 .
- FIG. 13 shows a further perspective view of the primary rack tray receiver assembly of FIGS. 11 and 12 .
- FIG. 14 shows a plan top view of the primary rack tray receiver assembly of FIG. 12 .
- FIG. 1 shows a perspective view of a laboratory equipment unit 10 comprising a laboratory system in which the invention can be employed.
- This laboratory equipment unit 10 may be a so-called storage retrieval module (SRM) forming part of an overall laboratory analyser system.
- the storage retrieval module comprises a primary rack handler section 12 (on the left hand side of the depiction of FIG. 1 ) and a refrigerating or storage section 14 (on the right hand side of the depiction of FIG. 1 ). Between the two sections 12 , 14 there is a loading/unloading interface (not shown) through which racks are transferred from the primary rack handler section 12 into the refrigerating or storage section 14 and back (in case of retrieval).
- This loading/unloading interface may be designed like a gate or the like.
- the storage section 14 may comprise a refrigerator 16 .
- a storage section in the context of this invention is a cabinet of various size which is able to store a plurality of sample tubes, preferably in storage racks. It may have an appropriate cooling unit to hold the ambient temperature for the tubes within the refrigerator below room temperature, possibly below 18° C. and possibly below 10° C.
- the storage section 14 comprises a plurality of shelves for storage of a high number of sample tube racks.
- the sample tube racks loaded into the storage section are so-called storage racks, not shown in the Figures. This implies that all tubes contained in primary racks (i.e., incoming sample tube racks of various types) fulfilling the geometry criteria of the invention are taken out of their respective primary racks and are resorted in suitable storage racks before being loaded into the storage section 14 .
- the storage section may be large enough for one or two human beings being able to enter the inside of the storage section 14 through a door (not shown).
- a safety switching circuit ensures that all moving systems (like robotic arms or other transfer or conveying systems) come to a standstill, for example in a neutral or home position.
- primary racks are single-row racks with somewhat standard geometry and therefore easy to handle in a plurality of different laboratory systems
- the secondary racks i.e., storage racks
- multi-row racks e.g., three rows with more than ten positions, for example 13 to 14 positions. Therefore, the storage racks are more stable, particularly for storing purposes, and less likely to tilt over.
- the storage section 14 may comprise a disposal unit 18 .
- the disposal unit 18 is connected with the storage section 14 via an internal opening (not shown) in a wall separating the storage section 14 from the disposal unit 18 . Through this opening, sample tubes whose expiration date (i.e., shelf life) has elapsed can be disposed automatically through the disposal unit 18 .
- the primary rack handler section 12 has a housing consisting of several outer walls with windows so that operating personnel can have a direct visual overview of the rack handler's functioning.
- the primary rack handler section 12 comprises an opening 20 in one of the outer walls through which primary racks can be inserted into the storage retrieval module 10 .
- the opening 20 leads to a primary rack handler area 210 (cf., FIG. 2 ) which comprises at least one robotic arm 220 (which can be seen in the depiction of FIG. 1 through one of the windows).
- the opening 20 might be closable by means of a sliding or retractable door (not shown).
- the primary rack handler section 12 further comprises drawers 22 , 24 through which emptied primary racks and/or primary racks containing sample tubes with error designations and/or racks containing at least one retrieved sample tube can be taken out of the storage retrieval module 10 .
- the primary rack handler section 12 comprises a capping station 26 with a feeder tank 28 for tube caps.
- the storage retrieval module 10 also comprises a man-machine interface (MMI) 30 which might have the form of a touch screen monitor 32 at the end of an articulated arm 34 .
- MMI man-machine interface
- FIG. 2 shows a top view of the primary rack handler area 210 of the laboratory system of the invention and FIG. 3 shows a perspective view thereof.
- the primary rack handler area 210 comprises a platform 212 inside the primary rack handler section 12 of FIG. 1 . It further comprises a first robotic arm 220 which may be installed essentially in the centre of the platform 212 or at least at a position from which it can reach at least all locations within the primary rack handler area 210 . Any known suitable robot can be used for this purpose, such as for example a SCARA robot with four axes and four degrees of freedom.
- the robotic arm 220 comprises, at its end, a gripper 222 designed to securely grip the racks to be handled.
- a conveyor 214 is provided for conveying incoming primary racks PR containing sample tubes (e.g., five sample tubes) to an image analysing unit 250 which is also positioned on the platform 212 .
- sample tubes e.g., five sample tubes
- a plurality of alignment elements 230 are provided on the platform 212 .
- the alignment elements 230 are designed to hold in place the primary racks PR in a desired alignment or orientation which corresponds to an orientation of the gripper 222 of the robotic arm 220 .
- the primary racks may not be introduced directly on the conveyor 214 through the opening 20 but rather be taken up by the gripper 222 of robotic arm 220 and then placed on the conveyor 214 .
- a receiving position (not shown) for incoming racks is provided from which the robotic arm then takes up the incoming rack in order to place it onto the conveyor 214 .
- the conveyor 214 conveys the primary rack into the image analysing unit 250 where the sample tubes in the primary rack are analysed as to their geometry parameters.
- the determined geometry parameters of each sample tube are compared with predetermined geometry criteria and it is identified whether a sample tube is system conform or not.
- One of the geometry parameters to be analysed is the presence of a cap on the sample tube, and another geometry parameter to be analysed is the tube's diameter.
- the whole primary rack is sent to the capping station 26 (not shown in FIG. 3 ) before any other further processing of the primary rack or any of the other sample tubes contained therein.
- the first robotic arm 220 places the primary rack onto the conveyor 260 conveying the primary rack with its sample tubes into the capping station 26 for a re-capping of the sample tube(s) identified to have no cap.
- the primary rack is brought back into the regular processing.
- the primary rack can be transferred back into the image analysing unit 250 in order to make sure that now all sample tubes carry a cap and are fit for further processing.
- FIGS. 4 and 5 show an enlarged view of the gripper 222 of the robotic arm 220 .
- the gripper 222 comprises a first arm 226 and a second arm 228 .
- the two arms 226 , 228 function according to the principle of tongs, i.e. they can perform a relative movement towards each other in order to grip a primary rack between them.
- the distance between the two arms 226 , 228 is such that they can grip a primary rack in its longitudinal extension, or with other words, the distance between the two arms in their gripping positioning is slightly larger than the length L of a primary rack PR.
- Each primary rack PR comprises a first end surface 76 and a second end surface 78 , the first end surface 76 having a first surface geometry and the second end surface 78 having a second surface geometry.
- the first end surface 76 is a flat surface whereas the second surface 78 geometry has two bevelled edges 78 . 1 and 78 . 2 . Accordingly and as already described above, the primary racks PR have an orientation due to the geometry of their end surfaces which allows unambiguous identification of the sample tubes positions.
- each of the two arms 226 , 228 of the gripper 222 has complementary surfaces relative to the surface geometry of the end surfaces of the primary racks.
- the first gripper arm 226 has a gripping surface being complementary to the first surface geometry (flat surface 76 ) and the second gripping arm 228 has a gripping surface being complementary to the second surface geometry (bevelled edges 78 . 1 , 78 . 2 ).
- the two arms 226 , 228 are formed as horizontal tongs so as to encompass and grip the primary rack in a horizontal plane. This avoids rack handling from above and thus the danger of breaking sample tubes being too high or not being fully inserted in the rack opening. It also allows moving primary racks horizontally and inserting them into trays in shelves (cf. FIG. 12 ).
- the two arms 226 , 228 of the gripper 222 each comprise a downwardly extending extension 227 , 229 which allows a gripping of the top portion of each end surface 76 , 78 of the primary rack PR in order to lift the same up.
- the primary rack PR is then placed in an intermediate or interim parking position 260 , the gripper 222 releases the primary rack PR in the parking position 260 , the robotic arm 220 lowers the gripper 222 slightly and then the two arms close and fully grip the primary rack with their full gripping surface (cf. FIG. 5 ). This way, the primary racks PR can be stocked, e.g. on the platform 212 as rack positioning area, next to each other without losing space even though the gripping is done “from behind”.
- FIGS. 8 to 10 show enlarged depictions of the alignment element 230 , a multitude of which are used to align the primary racks (PR) on the rack positioning area or platform 212 as shown in FIG. 2 .
- the alignment element 230 comprises a base body 231 with a top surface 232 , a bottom surface 233 , a first longitudinal side 234 , a second longitudinal side 235 , and first and second end sides 236 .
- the first longitudinal side 234 of the alignment element 230 has a substantially flat surface and is provided with two vertical partition extensions 237 , dividing the first longitudinal side 234 into a main centre section 234 . 1 and two smaller adjacent outer sections 234 . 2 .
- the breadth B 1 of the main centre section 234 . 1 equals substantially the breadth of the flat first end surface 76 of the primary rack PR so that this end surface of the primary rack can be received in between the two vertical partition extensions 237 .
- the breadth B 3 of the two smaller outer sections 234 . 2 each equals (B 1 ⁇ )/2 wherein ⁇ is the width of the gap between two adjacent alignment elements 230 when positioned on the rack positioning area, i.e. the platform 212 .
- ⁇ is the width of the gap between two adjacent alignment elements 230 when positioned on the rack positioning area, i.e. the platform 212 .
- the second longitudinal side 235 of the alignment element 230 (shown in FIG. 10 ) comprises, symmetrically to the two vertical partition extensions 237 of the opposite first longitudinal side 234 , two projections 238 with substantially triangular cross-section, creating a second main centre section 235 . 1 and two smaller second outer sections 235 . 2 (see FIG. 9 ).
- a vertical extension 239 is provided, similar to the two vertical partition extensions 237 of the opposite first longitudinal side 234 and exactly opposing these. Therefore, the distance between the two vertical extensions 239 equals the breadth B 1 of the opposing first main centre section 234 . 1 , whereas the breadth B 2 of the second main centre section 235 .
- the top surface 232 of the alignment element 230 may comprise bevelled edges in order to facilitate insertion of a primary rack between the extensions 237 , 239 and projections 238 .
- the alignment element 230 On its bottom side 233 , the alignment element 230 has a clip-like positioning element 240 provided in the centre of the bottom side 233 . It further comprises two positioning pins 241 diagonally opposing each other (see FIG. 10 ).
- FIGS. 11 to 14 show a primary rack tray receiver assembly 710 which receives a tray 720 containing one or more primary racks PR for loading onto the platform 212 of FIG. 2 and subsequent sorting of sample tubes contained therein.
- the primary rack tray receiver assembly 710 comprises a receiver skid 712 which is moveable along a skid rail 714 .
- the skid rail 714 extends along a longitudinal extension of the primary rack tray receiver assembly 710 , the longitudinal extension having a length adapted to accommodate a primary rack tray 720 .
- the receiver skid 712 is designed to receive a primary rack tray 720 for locking engagement therewith.
- the receiver skid 712 comprises receiving and fastening means 716 , 718 , 722 , namely two openings 716 and 718 in its substantially flat top surface which are adapted to engage with corresponding protrusions (not shown) of the primary rack tray 720 .
- a retractable bolt 722 is provided which is designed to snap into a corresponding recess of the protrusion of the primary rack tray 720 when inserted in the receiver skid 712 .
- the snapping direction of the retractable bolt 722 may be, for example, perpendicular to the direction of insertion of the primary rack tray 720 .
- the empty receiver skid 712 is located at one end 740 (first end) of the longitudinal extension of the primary rack tray receiver assembly (cf. FIG. 12 ). This position might be called the waiting position. Once a primary rack tray 720 is inserted in the receiver skid 712 and fastened thereto, the receiver skid 712 is pushed, together with the inserted primary rack tray 720 , along the skid rails 714 out of its waiting position towards an opposing end 742 of the longitudinal extension of the primary rack tray receiver assembly.
- a pivotally arranged barrier gate 738 may be swung downwards.
- the barrier gate 738 is slidably coupled to a barrier rail 744 and can be moved longitudinally along the barrier rail 744 .
- the movement may be guided by an electric motor 748 with the effect to apply a controlled push force against a stack of primary racks loaded on the primary rack tray 720 . This movement occurs for example after a primary rack has been unloaded from the primary rack tray 720 at the opposing end 742 of the primary rack tray receiver assembly in order to recompose the stack and to ensure that the next primary rack is in an unloading position.
- the primary rack tray 720 may comprise a rack trail 746 extending longitudinally along the length of the primary rack tray 720 , wherein the rack trail 746 is so designed to slidably engage with a recess 80 located on the bottom side of a primary rack (see, FIGS. 4 , 5 & 12 ).
- the receiver skid 712 may further comprise a barrier element 724 which is pivotally linked to a longitudinal side of the receiver skid 712 with a first end 726 and being biased into an upwardly inclined position across the open front end 721 of the primary rack tray 720 , thus preventing racks PR in the primary rack tray 720 from falling out through the open front end 721 during the insertion and moving procedure as well as during the subsequent handling procedure.
- the barrier element 724 may comprise a guide slot 730 with a guide pin 732 of the receiver skid 712 extending therethrough (see FIGS. 11 & 13 ).
- the barrier element 724 can be pushed down against its biasing force around the pivotal axis at the first end 726 and along guide slot 730 .
- the open front end 721 of the primary rack tray 720 is set free and the first placed rack PR can be taken out easily.
- the barrier element 724 is released, i.e. the pushing down force is taken off, it snaps up again due to the biasing force, thus closing again the open front end 721 of the primary rack tray 720 .
- the barrier element 724 may comprise at an opposing second end a vertical elongation 728 with the function of an actuating lever.
- Automated pushing down of the barrier element 724 by means of the robotic arm 220 can be achieved by means of a corresponding bolt 224 extending from the gripper 222 of the robotic arm 220 (see FIG. 3 ).
- the bolt 224 is attached to the gripper 222 in such a manner that it extends substantially horizontally below the gripper 222 and beyond the outer circumference of a primary rack PR when gripped by the gripper 222 at a front end 76 of the rack PR, i.e. the bolt 224 extends perpendicular to the longitudinal axis of the primary rack PR (cf. FIGS. 4 and 5 ).
- the robotic arm 220 When the robotic arm 220 intends to pick up the first place primary rack (PR) in the primary rack tray 720 , it lowers the gripper 222 down towards the primary rack (PR), with the result that the bolt 224 contacts the upper end of the lever 728 . The downward movement of the gripper 222 continues, thus pushing down the barrier element 724 due to the force exerted on the lever 728 . Then, the gripper arms 226 , 228 grip the primary rack (PR), and the primary rack (PR) is then taken out of the primary rack tray 720 with a horizontal movement (which is possible as the barrier element 724 is pushed down).
- the bolt 224 extends beyond the outer circumference of the primary rack (PR)
- the bolt 224 stays in contact with the lever 728 long enough for the primary rack (PR to be fully taken out of the primary rack tray 720 , so that the barrier element 724 only snaps up again when the primary rack tray is removed.
- the gate barrier 738 is lifted up and the primary rack tray 720 is pulled out of the primary rack tray receiver assembly 710 , thereby moving the receiver skid 712 back along the skid rail 714 .
- the retractable bolt 722 is retracted out of the recess of the primary rack tray 720 against a biasing force.
- the biasing mechanism of the retractable bolt 722 hits a ramp-like element 736 on the bottom of the primary rack tray receiver assembly 710 which causes the bolt 722 to be retracted against its biasing force and thus to unlock the primary rack tray 720 in the receiver skid 712 so that the primary rack tray 720 can be removed.
- a latching element 734 can be provided in order to lock the receiver skid 712 in its movement.
- the latching element 734 is arranged somewhat before the ramp-like element 736 so as to allow locking of the movement of the receiver skid 712 without necessarily having to retract the bolt 722 . Only if the receiver skid 712 is pulled further back against the ramp-like element 736 , the bolt 722 will be retracted and the primary rack tray 720 released. See FIG. 12 .
- FIG. 12 further illustrates a rack shelf system 750 comprising a plurality of shelf compartments 752 , each of the shelf compartments comprising a primary rack tray receiver assembly and as illustrated in FIG. 11 and described above.
- the rack shelf system 750 allows handling of laboratory sample tube racks in a high number even if only little space is available.
- the rack shelf system 750 works particularly well in combination with the robotic gripper 222 as described and disclosed herein which allows a horizontal gripping of the primary racks PR as this opens the possibility to also insert, i.e. load primary racks PR into rack place in a shelf with a horizontal movement (which is not possible with a gripper gripping racks from above). This loading procedure works analogously to the above-described unloading procedure of racks from a primary rack tray.
- upper or top shelf tray receiver assemblies receive rack trays loaded with primary racks to be unloaded (by the robotic arm 220 ), while lower shelf compartments receive empty rack trays to be loaded with primary racks.
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Abstract
Description
- The present invention relates to the handling of sample tube racks in a laboratory environment, and particularly to a laboratory device for handling sample tube racks in the context of storing such sample tubes in a storage compartment, and more particularly of placing tube racks on rack positioning areas or trays.
- In laboratories, such as for example clinical laboratories in which patient samples are examined and submitted to various in-vitro diagnosis tests, test tubes containing samples (such as blood, urine, etc.) have to be handled in high number and in a cautious but still efficient manner. For years now, automated procedures with corresponding systems and devices have been used in this context.
- One aspect during the handling of these sample tubes relates to the tubes being placed in a storage compartment, which can be, for example, a refrigerating device. For efficient handling purposes, the tubes are not handled individually but placed in so-called storage racks. In analysers for chemical, microbiological or clinical tests, the racks are usually placed on rack carriers called trays for all further handling (transporting, charging, discharging). Usually, the trays are charged/discharged at an operating height of about 800 mm. Manual handling of the trays, especially charging/discharging of storage racks, becomes difficult when a high number of trays has to be handled.
- Document JP 2007/303960 discloses a rack tray capable of setting simply a single or a plurality of racks on each desired position, and reducing a falling accident of racks, and a rack tray capable of dismounting collectively a plurality of set racks. This rack tray includes a guide part for arraying and holding a plurality of racks supporting a plurality of sample vessels and guiding the racks movably along the arraying direction. The guide part includes a plurality of engaging holding parts for holding the racks by being engaged with an engaging part of each rack when the racks are mounted.
- U.S. Pat. No. 5,417,922 discloses a specimen carrier for transporting conventional specimen tubes throughout an automatic laboratory conveyance system. The carrier includes a generally rectilinear carrier body with a forward face having an identification zone delimited thereon. An identification code is marked in the identification zone so as to permit mechanical sensing and identification of the carrier on a conveyor system. A plurality of holes of various diameters and depths are provided in the top surface of the carrier to receive conventional specimen tubes of various types with the top ends of the specimen tubes located at a predetermined height above the top surface of the carrier.
- The present disclosure provides a laboratory system to handle sample tube racks, an alignment element for aligning the sample tube racks on a rack positioning area, a rack tray receiver assembly, and methods for handling sample tube racks.
- In one aspect, a laboratory system to handle laboratory sample tube racks is provided which comprises a handling device with a gripper for gripping sample tube racks. The sample tube racks to be handled comprise a first end surface and a second end surface, the first end surface having a first surface geometry and the second end surface having a second surface geometry, and with the first and second surface geometries being different from each other. The gripper comprises a first gripping arm and a second gripping arm, with the first gripping arm having a gripping surface being complementary to the first surface geometry, and the second gripping arm having a gripping surface being complementary to the second surface geometry.
- Thus, the sample tube racks with a specific geometry can be handled automatically with a gripper with two gripper arms comprising corresponding complementary geometries, respectively. This enables a secure automated handling of the racks due to the adapted geometry.
- In another aspect, an alignment element for aligning sample tube racks on a primary rack positioning area of a laboratory system is provided. As above, a sample tube rack to be aligned comprises a first end surface and a second end surface, the first end surface having a first surface geometry and the second end surface having a second surface geometry. The alignment element has a bottom side, a first longitudinal side and a second longitudinal side, wherein the first longitudinal side is complementary to the first surface geometry and the second longitudinal side is complementary to the second surface geometry while the bottom side comprises a clip-like positioning element for positioning the alignment element on the rack positioning area in uniform orientation with other alignment elements on the rack positioning area.
- In accordance with this aspect, automated handling of sample tube racks with a specific geometry is facilitated by ensuring correct (aligned) placement of sample tube racks on a rack positioning area.
- Further features and embodiments will become apparent from the description and the accompanying drawings.
- It will be understood that the features mentioned above and those described hereinafter can be used not only in the combination specified but also in other combinations or on their own, without departing from the scope of the present disclosure. The disclosure of the invention also covers the corresponding methods of operation of the disclosed devices and systems.
- Various implementations are schematically illustrated in the drawings by means of an embodiment by way of example and are hereinafter explained in detail with reference to the drawings. It is understood that the description is in no way limiting on the scope of the present disclosure and is merely an illustration of a typical embodiment.
-
FIG. 1 shows a perspective view of a laboratory equipment unit comprising a laboratory system in which the inventive aspects of this disclosure can be implemented. -
FIG. 2 shows a top view of a primary rack handler area of the laboratory system ofFIG. 1 where incoming primary racks are handled. -
FIG. 3 shows a perspective view of the primary rack handler area ofFIG. 2 . -
FIG. 4 shows a rear perspective view of a gripper of a robotic arm of the primary rack handler area ofFIG. 2 . -
FIG. 5 shows a front perspective view of the gripper ofFIG. 4 . -
FIG. 6 shows a detail perspective view of the primary rack handler area ofFIGS. 2 and 3 . -
FIG. 7 shows a top view of the detail ofFIG. 6 . -
FIG. 8 shows a first perspective top view of an alignment element a multitude of which are used to align the primary racks in the primary rack positioning area as shown inFIG. 2 . -
FIG. 9 shows a second perspective top view of the alignment element ofFIG. 8 . -
FIG. 10 shows a perspective bottom view of the alignment element ofFIG. 8 . -
FIG. 11 shows a perspective view of a primary rack tray receiver assembly with barrier mechanism. -
FIG. 12 shows another perspective view of a primary rack tray receiver assembly ofFIG. 11 . -
FIG. 13 shows a further perspective view of the primary rack tray receiver assembly ofFIGS. 11 and 12 . -
FIG. 14 shows a plan top view of the primary rack tray receiver assembly ofFIG. 12 . - Reference will now be made in detail to some embodiments, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers are used throughout the drawings to refer to the same or like parts.
-
FIG. 1 shows a perspective view of alaboratory equipment unit 10 comprising a laboratory system in which the invention can be employed. Thislaboratory equipment unit 10 may be a so-called storage retrieval module (SRM) forming part of an overall laboratory analyser system. The storage retrieval module comprises a primary rack handler section 12 (on the left hand side of the depiction ofFIG. 1 ) and a refrigerating or storage section 14 (on the right hand side of the depiction ofFIG. 1 ). Between the twosections rack handler section 12 into the refrigerating orstorage section 14 and back (in case of retrieval). This loading/unloading interface may be designed like a gate or the like. - The
storage section 14 may comprise arefrigerator 16. A storage section in the context of this invention is a cabinet of various size which is able to store a plurality of sample tubes, preferably in storage racks. It may have an appropriate cooling unit to hold the ambient temperature for the tubes within the refrigerator below room temperature, possibly below 18° C. and possibly below 10° C. - In its inside, the
storage section 14 comprises a plurality of shelves for storage of a high number of sample tube racks. The sample tube racks loaded into the storage section are so-called storage racks, not shown in the Figures. This implies that all tubes contained in primary racks (i.e., incoming sample tube racks of various types) fulfilling the geometry criteria of the invention are taken out of their respective primary racks and are resorted in suitable storage racks before being loaded into thestorage section 14. The storage section may be large enough for one or two human beings being able to enter the inside of thestorage section 14 through a door (not shown). In case the door is opened, a safety switching circuit ensures that all moving systems (like robotic arms or other transfer or conveying systems) come to a standstill, for example in a neutral or home position. While primary racks are single-row racks with somewhat standard geometry and therefore easy to handle in a plurality of different laboratory systems, the secondary racks (i.e., storage racks) are multi-row racks (e.g., three rows with more than ten positions, for example 13 to 14 positions). Therefore, the storage racks are more stable, particularly for storing purposes, and less likely to tilt over. - Further, the
storage section 14 may comprise adisposal unit 18. Thedisposal unit 18 is connected with thestorage section 14 via an internal opening (not shown) in a wall separating thestorage section 14 from thedisposal unit 18. Through this opening, sample tubes whose expiration date (i.e., shelf life) has elapsed can be disposed automatically through thedisposal unit 18. - The primary
rack handler section 12 has a housing consisting of several outer walls with windows so that operating personnel can have a direct visual overview of the rack handler's functioning. The primaryrack handler section 12 comprises anopening 20 in one of the outer walls through which primary racks can be inserted into thestorage retrieval module 10. Theopening 20 leads to a primary rack handler area 210 (cf.,FIG. 2 ) which comprises at least one robotic arm 220 (which can be seen in the depiction ofFIG. 1 through one of the windows). Theopening 20 might be closable by means of a sliding or retractable door (not shown). - The primary
rack handler section 12 further comprisesdrawers 22, 24 through which emptied primary racks and/or primary racks containing sample tubes with error designations and/or racks containing at least one retrieved sample tube can be taken out of thestorage retrieval module 10. - Further, the primary
rack handler section 12 comprises acapping station 26 with a feeder tank 28 for tube caps. - The
storage retrieval module 10 also comprises a man-machine interface (MMI) 30 which might have the form of a touch screen monitor 32 at the end of an articulatedarm 34. -
FIG. 2 shows a top view of the primaryrack handler area 210 of the laboratory system of the invention andFIG. 3 shows a perspective view thereof. The primaryrack handler area 210 comprises aplatform 212 inside the primaryrack handler section 12 ofFIG. 1 . It further comprises a firstrobotic arm 220 which may be installed essentially in the centre of theplatform 212 or at least at a position from which it can reach at least all locations within the primaryrack handler area 210. Any known suitable robot can be used for this purpose, such as for example a SCARA robot with four axes and four degrees of freedom. Therobotic arm 220 comprises, at its end, agripper 222 designed to securely grip the racks to be handled. - On the
platform 212, aconveyor 214 is provided for conveying incoming primary racks PR containing sample tubes (e.g., five sample tubes) to animage analysing unit 250 which is also positioned on theplatform 212. - Further, a plurality of
alignment elements 230 are provided on theplatform 212. Thealignment elements 230 are designed to hold in place the primary racks PR in a desired alignment or orientation which corresponds to an orientation of thegripper 222 of therobotic arm 220. In order to ensure proper orientation of the primary racks PR in every step of processing (such that the sample tubes positions are always unambiguously identifiable), the primary racks may not be introduced directly on theconveyor 214 through theopening 20 but rather be taken up by thegripper 222 ofrobotic arm 220 and then placed on theconveyor 214. For this, a receiving position (not shown) for incoming racks is provided from which the robotic arm then takes up the incoming rack in order to place it onto theconveyor 214. - The
conveyor 214 conveys the primary rack into theimage analysing unit 250 where the sample tubes in the primary rack are analysed as to their geometry parameters. The determined geometry parameters of each sample tube are compared with predetermined geometry criteria and it is identified whether a sample tube is system conform or not. One of the geometry parameters to be analysed is the presence of a cap on the sample tube, and another geometry parameter to be analysed is the tube's diameter. - In case a sample tube is found to have no cap, the whole primary rack is sent to the capping station 26 (not shown in
FIG. 3 ) before any other further processing of the primary rack or any of the other sample tubes contained therein. For this, the firstrobotic arm 220 places the primary rack onto theconveyor 260 conveying the primary rack with its sample tubes into thecapping station 26 for a re-capping of the sample tube(s) identified to have no cap. After successful re-capping of the sample tube(s), the primary rack is brought back into the regular processing. Alternatively, as the case may be, the primary rack can be transferred back into theimage analysing unit 250 in order to make sure that now all sample tubes carry a cap and are fit for further processing. -
FIGS. 4 and 5 show an enlarged view of thegripper 222 of therobotic arm 220. Thegripper 222 comprises afirst arm 226 and asecond arm 228. The twoarms arms - Each primary rack PR comprises a
first end surface 76 and asecond end surface 78, thefirst end surface 76 having a first surface geometry and thesecond end surface 78 having a second surface geometry. In the embodiment of the drawings, thefirst end surface 76 is a flat surface whereas thesecond surface 78 geometry has two bevelled edges 78.1 and 78.2. Accordingly and as already described above, the primary racks PR have an orientation due to the geometry of their end surfaces which allows unambiguous identification of the sample tubes positions. - In order to be able to properly and safely grip the primary racks, each of the two
arms gripper 222 has complementary surfaces relative to the surface geometry of the end surfaces of the primary racks. Namely, thefirst gripper arm 226 has a gripping surface being complementary to the first surface geometry (flat surface 76) and the secondgripping arm 228 has a gripping surface being complementary to the second surface geometry (bevelled edges 78.1, 78.2). - Further, the two
arms FIG. 12 ). - In order to be able to grip primary racks from above when several racks are placed next to each other as illustrated in
FIGS. 6 and 7 , the twoarms gripper 222 each comprise a downwardly extendingextension end surface interim parking position 260, thegripper 222 releases the primary rack PR in theparking position 260, therobotic arm 220 lowers thegripper 222 slightly and then the two arms close and fully grip the primary rack with their full gripping surface (cf.FIG. 5 ). This way, the primary racks PR can be stocked, e.g. on theplatform 212 as rack positioning area, next to each other without losing space even though the gripping is done “from behind”. -
FIGS. 8 to 10 show enlarged depictions of thealignment element 230, a multitude of which are used to align the primary racks (PR) on the rack positioning area orplatform 212 as shown inFIG. 2 . Thealignment element 230 comprises abase body 231 with atop surface 232, abottom surface 233, a firstlongitudinal side 234, a secondlongitudinal side 235, and first and second end sides 236. - The first
longitudinal side 234 of thealignment element 230 has a substantially flat surface and is provided with twovertical partition extensions 237, dividing the firstlongitudinal side 234 into a main centre section 234.1 and two smaller adjacent outer sections 234.2. The breadth B1 of the main centre section 234.1 equals substantially the breadth of the flatfirst end surface 76 of the primary rack PR so that this end surface of the primary rack can be received in between the twovertical partition extensions 237. The breadth B3 of the two smaller outer sections 234.2 each equals (B1−Δ)/2 wherein Δ is the width of the gap between twoadjacent alignment elements 230 when positioned on the rack positioning area, i.e. theplatform 212. As a result of this geometry, anend surface 76 of the primary rack PR can also be received in between twovertical partition extensions 237 ofadjacent alignment elements 230 which allows an optimised use of the available space for stocking or interim parking the primary racks. - The second
longitudinal side 235 of the alignment element 230 (shown inFIG. 10 ) comprises, symmetrically to the twovertical partition extensions 237 of the opposite firstlongitudinal side 234, twoprojections 238 with substantially triangular cross-section, creating a second main centre section 235.1 and two smaller second outer sections 235.2 (seeFIG. 9 ). At the peak of each of theprojections 238, respectively, avertical extension 239 is provided, similar to the twovertical partition extensions 237 of the opposite firstlongitudinal side 234 and exactly opposing these. Therefore, the distance between the twovertical extensions 239 equals the breadth B1 of the opposing first main centre section 234.1, whereas the breadth B2 of the second main centre section 235.1 between the twoprojections 238 equals substantially the breadth of thesecond end surface 78 of the primary rack PR with two bevelled edges so that this bevelled end surface of the primary rack can be received in between the two projections 238 (seeFIG. 7 ). Again, the breadth B4 of the two second outer sections 235.2 each equals half of the breadth B2 minus half of the gap between two alignment elements, i.e. B4=(B2−Δ)/2. - The
top surface 232 of thealignment element 230 may comprise bevelled edges in order to facilitate insertion of a primary rack between theextensions projections 238. - On its
bottom side 233, thealignment element 230 has a clip-like positioning element 240 provided in the centre of thebottom side 233. It further comprises two positioningpins 241 diagonally opposing each other (seeFIG. 10 ). -
FIGS. 11 to 14 show a primary racktray receiver assembly 710 which receives atray 720 containing one or more primary racks PR for loading onto theplatform 212 ofFIG. 2 and subsequent sorting of sample tubes contained therein. - The primary rack
tray receiver assembly 710 comprises areceiver skid 712 which is moveable along askid rail 714. Theskid rail 714 extends along a longitudinal extension of the primary racktray receiver assembly 710, the longitudinal extension having a length adapted to accommodate aprimary rack tray 720. - The
receiver skid 712 is designed to receive aprimary rack tray 720 for locking engagement therewith. To this end, and with reference toFIG. 14 , thereceiver skid 712 comprises receiving and fastening means 716, 718, 722, namely twoopenings primary rack tray 720. In at least one of theopenings 716, aretractable bolt 722 is provided which is designed to snap into a corresponding recess of the protrusion of theprimary rack tray 720 when inserted in thereceiver skid 712. The snapping direction of theretractable bolt 722 may be, for example, perpendicular to the direction of insertion of theprimary rack tray 720. - The
empty receiver skid 712 is located at one end 740 (first end) of the longitudinal extension of the primary rack tray receiver assembly (cf.FIG. 12 ). This position might be called the waiting position. Once aprimary rack tray 720 is inserted in thereceiver skid 712 and fastened thereto, thereceiver skid 712 is pushed, together with the insertedprimary rack tray 720, along the skid rails 714 out of its waiting position towards an opposingend 742 of the longitudinal extension of the primary rack tray receiver assembly. - When the
primary rack tray 720 is inserted into the primary racktray receiver assembly 710, a pivotally arrangedbarrier gate 738 may be swung downwards. Thebarrier gate 738 is slidably coupled to abarrier rail 744 and can be moved longitudinally along thebarrier rail 744. The movement may be guided by anelectric motor 748 with the effect to apply a controlled push force against a stack of primary racks loaded on theprimary rack tray 720. This movement occurs for example after a primary rack has been unloaded from theprimary rack tray 720 at theopposing end 742 of the primary rack tray receiver assembly in order to recompose the stack and to ensure that the next primary rack is in an unloading position. - In order to improve stability and movement of the primary rack from one end of the
primary rack tray 720 to the other, theprimary rack tray 720 may comprise arack trail 746 extending longitudinally along the length of theprimary rack tray 720, wherein therack trail 746 is so designed to slidably engage with arecess 80 located on the bottom side of a primary rack (see,FIGS. 4 , 5 & 12). - The
receiver skid 712 may further comprise abarrier element 724 which is pivotally linked to a longitudinal side of thereceiver skid 712 with afirst end 726 and being biased into an upwardly inclined position across the openfront end 721 of theprimary rack tray 720, thus preventing racks PR in theprimary rack tray 720 from falling out through the openfront end 721 during the insertion and moving procedure as well as during the subsequent handling procedure. Thebarrier element 724 may comprise aguide slot 730 with aguide pin 732 of thereceiver skid 712 extending therethrough (seeFIGS. 11 & 13 ). - The
barrier element 724 can be pushed down against its biasing force around the pivotal axis at thefirst end 726 and alongguide slot 730. When pushed down against the biasing force, the openfront end 721 of theprimary rack tray 720 is set free and the first placed rack PR can be taken out easily. When thebarrier element 724 is released, i.e. the pushing down force is taken off, it snaps up again due to the biasing force, thus closing again the openfront end 721 of theprimary rack tray 720. - In order to facilitate the pushing down of the
barrier element 724, thebarrier element 724 may comprise at an opposing second end avertical elongation 728 with the function of an actuating lever. Automated pushing down of thebarrier element 724 by means of therobotic arm 220 can be achieved by means of acorresponding bolt 224 extending from thegripper 222 of the robotic arm 220 (seeFIG. 3 ). Thebolt 224 is attached to thegripper 222 in such a manner that it extends substantially horizontally below thegripper 222 and beyond the outer circumference of a primary rack PR when gripped by thegripper 222 at afront end 76 of the rack PR, i.e. thebolt 224 extends perpendicular to the longitudinal axis of the primary rack PR (cf.FIGS. 4 and 5 ). - When the
robotic arm 220 intends to pick up the first place primary rack (PR) in theprimary rack tray 720, it lowers thegripper 222 down towards the primary rack (PR), with the result that thebolt 224 contacts the upper end of thelever 728. The downward movement of thegripper 222 continues, thus pushing down thebarrier element 724 due to the force exerted on thelever 728. Then, thegripper arms primary rack tray 720 with a horizontal movement (which is possible as thebarrier element 724 is pushed down). Because thebolt 224 extends beyond the outer circumference of the primary rack (PR), thebolt 224 stays in contact with thelever 728 long enough for the primary rack (PR to be fully taken out of theprimary rack tray 720, so that thebarrier element 724 only snaps up again when the primary rack tray is removed. - If a
primary rack tray 720 is to be removed from the primary rack tray receiver assembly, thegate barrier 738 is lifted up and theprimary rack tray 720 is pulled out of the primary racktray receiver assembly 710, thereby moving thereceiver skid 712 back along theskid rail 714. When the receiver skid is brought back into its waiting position, theretractable bolt 722 is retracted out of the recess of theprimary rack tray 720 against a biasing force. In particular, when thereceiver skid 712 reaches its waiting position at 740, the biasing mechanism of theretractable bolt 722 hits a ramp-like element 736 on the bottom of the primary racktray receiver assembly 710 which causes thebolt 722 to be retracted against its biasing force and thus to unlock theprimary rack tray 720 in thereceiver skid 712 so that theprimary rack tray 720 can be removed. Additionally, a latchingelement 734 can be provided in order to lock thereceiver skid 712 in its movement. Typically, the latchingelement 734 is arranged somewhat before the ramp-like element 736 so as to allow locking of the movement of thereceiver skid 712 without necessarily having to retract thebolt 722. Only if thereceiver skid 712 is pulled further back against the ramp-like element 736, thebolt 722 will be retracted and theprimary rack tray 720 released. SeeFIG. 12 . -
FIG. 12 further illustrates arack shelf system 750 comprising a plurality of shelf compartments 752, each of the shelf compartments comprising a primary rack tray receiver assembly and as illustrated inFIG. 11 and described above. Therack shelf system 750 allows handling of laboratory sample tube racks in a high number even if only little space is available. Therack shelf system 750 works particularly well in combination with therobotic gripper 222 as described and disclosed herein which allows a horizontal gripping of the primary racks PR as this opens the possibility to also insert, i.e. load primary racks PR into rack place in a shelf with a horizontal movement (which is not possible with a gripper gripping racks from above). This loading procedure works analogously to the above-described unloading procedure of racks from a primary rack tray. - According to other typical embodiments, upper or top shelf tray receiver assemblies receive rack trays loaded with primary racks to be unloaded (by the robotic arm 220), while lower shelf compartments receive empty rack trays to be loaded with primary racks.
- It is noted that terms like “preferably”, “commonly”, and “typically” are not utilized herein to limit the scope of the claimed invention or to imply that certain features are critical, essential, or even important to the structure or function of the claimed invention. Rather, these terms are merely intended to highlight alternative or additional features that may or may not be utilized in a particular embodiment of the present invention.
- Having described the invention in detail and by reference to specific embodiments thereof, it will be apparent that modifications and variations are possible without departing from the scope of the invention defined in the appended claims. More specifically, although some aspects of the present invention are identified herein as preferred or particularly advantageous, it is contemplated that the present invention is not necessarily limited to these preferred aspects of the invention.
Claims (16)
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EP08013459.6A EP2148206B1 (en) | 2008-07-25 | 2008-07-25 | A laboratory system for handling sample tube racks, an alignmemt element for sample tube racks and a rack tray receiver assembly |
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Also Published As
Publication number | Publication date |
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US9297822B2 (en) | 2016-03-29 |
JP5202464B2 (en) | 2013-06-05 |
US8580195B2 (en) | 2013-11-12 |
EP2530025A1 (en) | 2012-12-05 |
EP2530025B1 (en) | 2015-11-04 |
US20140037420A1 (en) | 2014-02-06 |
EP2148206B1 (en) | 2015-11-18 |
JP2013122465A (en) | 2013-06-20 |
JP5566484B2 (en) | 2014-08-06 |
EP2148206A1 (en) | 2010-01-27 |
JP2010032516A (en) | 2010-02-12 |
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